From 2ba7d879b0b55e2e0f9183972d7204a48e8c4cd2 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 14:01:48 +0800
Subject: [PATCH] =?UTF-8?q?fix=20x=E8=A1=A5=E5=81=BF?=
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---
 User/module/balance_chassis.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 53766dc..bebb653 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -817,7 +817,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
       .d_theta = 0.0f,
       .phi = 0.0f+c->param->lqr_offset.phi,
       .d_phi = 0.0f,
-      .x = c->chassis_state.target_x+c->param->lqr_offset.x + leg_x_comp,
+      .x = c->chassis_state.target_x-c->param->lqr_offset.x + leg_x_comp,
       .d_x = c->chassis_state.target_velocity_x,
   };